Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 100)

7 Programming
7.2.4 Speed Reference
7-12
7.2.4 Speed Reference
The unit for the speed coded in a motion program can be selected: Reference unit/s, 10
n
reference unit/min.,
0.01% of rated speed, or 0.0001% of rated speed. Use bits 0 to 3 (Speed unit selection) of the motion setting
parameter OW
03 to select the unit.
7.2.5 Acceleration/Deceleration Setting
The unit for the acceleration/deceleration rate coded in a motion program can be selected: Reference unit/s 2 or
ms. Use bits 4 to 7 (Acceleration/deceleration degree unit selection) of the motion setting parameter OW 03
to select the unit.
Motion Setting
Parameter
Speed Unit Coordinate Word Designation Method
OW 03, bits 0
to 3:
Speed unit
selection
0: Reference unit/s Designate a movement amount per second in reference units.
1: 10 n reference unit/
min.
Designate a movement amount per minute in reference units.
When the reference unit is a pulse:
The designated value is multiplied by 1000.
Example: Reference unit = pulse
VEL [A1]1000;
Speed reference = 1,000,000 [pulses/min.].
When the reference unit is not a pulse:
The designated value is handled as:
Example) Reference unit = mm
VEL [A1]1000;
Number of digits below decimal point n = 3
Speed reference = 1000
× 10 3 [0.001 mm/min]
2: 0.01% Designates the speed in percentage of the rated speed in units of 0.01%.
3: 0.0001% Designates the speed in percentage of the rated speed in units of 0.0001%.
Motion Setting
Parameter
Speed Unit Coordinate Word Designation Method
OW 03, bits 4 to 7
Acceleration/deceler-
ation degree unit
selection
0: Reference unit/s 2
Designates the acceleration/deceleration rate per second in units of refer-
ence unit/s
2 .
1: ms Designates the acceleration/deceleration time in units of ms.